diff --git a/.gitattributes b/.gitattributes
index 8fd86707df05e0b3878ab6a095d29ba2f0224788..b55d6fe8ef78d9d8c596d6d3b9fc36a1f61ba2bb 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2861,7 +2861,5 @@ dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/mesh/pill_orga
 dataset/bedroom_supplies/storage/f95b7d20ff3d5a8fb109f95df91a1e3d/pill_organizer_038.usd filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/mesh/pill_organizer_036.glb filter=lfs diff=lfs merge=lfs -text
 dataset/bedroom_supplies/storage/f4c8f23f7a8e5874b57050b850002819/pill_organizer_036.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/glasses_case_020.usd filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/f880cefdb848575892531b8b332cf4e1/mesh/glasses_case_020.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/mesh/pill_organizer_015.glb filter=lfs diff=lfs merge=lfs -text
-dataset/bedroom_supplies/storage/faf9cc68708d513583fd0b60cb48907d/pill_organizer_015.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.usd filter=lfs diff=lfs merge=lfs -text
+dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.glb filter=lfs diff=lfs merge=lfs -text
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.urdf b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..ce883a3324d98aedb3f7e147cc182c311b7cd2c5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.urdf
@@ -0,0 +1,66 @@
+<?xml version='1.0' encoding='utf-8'?>
+<robot name="jewelry_box_020">
+   <link name="jewelry_box_020">
+      <visual>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_020.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+      </visual>
+      <collision>
+         <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+         <geometry>
+            <mesh filename="mesh/jewelry_box_020_collision.obj" scale="1.0 1.0 1.0" />
+         </geometry>
+         <gazebo>
+            <mu1>0.70</mu1>
+            <mu2>0.50</mu2>
+         </gazebo>
+      </collision>
+      <inertial>
+         <mass value="1.3000" />
+         <origin xyz="0 0 0" />
+         <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+      </inertial>
+      <extra_info>
+         <scale>1.000000</scale>
+         <uuid>f89951ee672d58ad9d762402ed944857</uuid>
+         <domain>bedroom_supplies</domain>
+         <super_category>storage</super_category>
+         <category>jewelry_box</category>
+         <name>wooden jewelry box</name>
+         <color>brown,white</color>
+         <shape>cuboid</shape>
+         <material>wood</material>
+         <description>dark wooden jewelry box with open lid and cream interior</description>
+         <min_height>0.1591</min_height>
+         <max_height>0.1591</max_height>
+         <real_height>0.1591</real_height>
+         <min_mass>0.8</min_mass>
+         <max_mass>1.8</max_mass>
+         <version>v0.1.0</version>
+         <generate_time>20260518170744</generate_time>
+         <gs_model>""</gs_model>
+         <aabb>
+            <min>-0.071955 -0.060031 -0.042875</min>
+            <max>0.082993 0.059969 0.116254</max>
+         </aabb>
+         <caption_candidates>./caption_candidates.json</caption_candidates>
+      </extra_info>
+   </link>
+   <custom_data>
+      <affordance>
+         <part_count>10</part_count>
+         <visual_seg>
+            <origin xyz="0 0 0" rpy="1.5708 0.0000 0.0000" />
+            <geometry>
+               <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
+            </geometry>
+         </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
+      </affordance>
+      <quality>
+         <PartSegChecker>YES</PartSegChecker>
+      </quality>
+   </custom_data>
+</robot>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.usd b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.usd
new file mode 100644
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--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/jewelry_box_020.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5daf5bf1d1ea092c7284bde8d18c38c82d50605cf3c7357c900a1bee884c6f34
+size 4800929
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.glb b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e819940ef5425a559d1e70aa5ee6fe46e7f6452c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63d5b083c17a4812979247f16b5addf72d66944221a4f51f0529deddae8cca27
+size 16160560
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.mtl b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9df5699f2b60ac0f3988efb1e12b02dcefd7fa20
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.mtl
@@ -0,0 +1,6 @@
+newmtl jewelry_box_020_geometry_Looks_material_0
+Kd 0.980392 0.980392 0.980392
+Ka 0.000000 0.000000 0.000000
+Ks 0.000000 0.000000 0.000000
+d 1.000000
+map_Kd material_0.png
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11b7dae38421ee6350e61f138dc0fba90f6dbc2c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020.obj
@@ -0,0 +1,113926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020_collision.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..014d865260d95f3d90cdbcedfb83eac3a94935a9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020_collision.obj
@@ -0,0 +1,23003 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020_geometry_Looks_material_0.png b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020_geometry_Looks_material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1805975d7737e8a1e29bf7ddef02c47d7d5a6b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/jewelry_box_020_geometry_Looks_material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5806d885350b7a696169913449bca529cf46ff942ff4f2816da596386a7ec7ef
+size 13002150
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/material.mtl b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/material.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..e9b783d4a80204fb4b86255706d6532782b4b8aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/material.mtl
@@ -0,0 +1,8 @@
+# https://github.com/mikedh/trimesh
+
+newmtl jewelry_box_020_geometry_Looks_material_0
+Ka 0.00000000 0.00000000 0.00000000
+Kd 0.98039216 0.98039216 0.98039216
+Ks 0.00000000 0.00000000 0.00000000
+Ns 1.00000000
+map_Kd jewelry_box_020_geometry_Looks_material_0.png
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/material_0.png b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/material_0.png
new file mode 100644
index 0000000000000000000000000000000000000000..a1805975d7737e8a1e29bf7ddef02c47d7d5a6b2
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mesh/material_0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5806d885350b7a696169913449bca529cf46ff942ff4f2816da596386a7ec7ef
+size 13002150
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/jewelry_box_020.xml b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/jewelry_box_020.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0cd647f31dad7ccfe25b5ff326ef9e7abb22aa35
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/jewelry_box_020.xml
@@ -0,0 +1,116 @@
+<?xml version='1.0' encoding='utf-8'?>
+<mujoco model="jewelry_box_020">
+  <asset>
+    <material name="material_0" texture="texture_0_jewelry_box_020_geometry_Looks_material_0" reflectance="0.2" />
+    <texture name="texture_0_jewelry_box_020_geometry_Looks_material_0" type="2d" file="mesh/jewelry_box_020_geometry_Looks_material_0.png" />
+    <mesh name="visual_mesh_0" file="mesh/jewelry_box_020.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_0" file="mesh/jewelry_box_020_collision_0.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_1" file="mesh/jewelry_box_020_collision_1.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_2" file="mesh/jewelry_box_020_collision_2.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_3" file="mesh/jewelry_box_020_collision_3.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_4" file="mesh/jewelry_box_020_collision_4.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_5" file="mesh/jewelry_box_020_collision_5.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_6" file="mesh/jewelry_box_020_collision_6.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_7" file="mesh/jewelry_box_020_collision_7.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_8" file="mesh/jewelry_box_020_collision_8.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_9" file="mesh/jewelry_box_020_collision_9.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_10" file="mesh/jewelry_box_020_collision_10.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_11" file="mesh/jewelry_box_020_collision_11.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_12" file="mesh/jewelry_box_020_collision_12.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_13" file="mesh/jewelry_box_020_collision_13.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_14" file="mesh/jewelry_box_020_collision_14.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_15" file="mesh/jewelry_box_020_collision_15.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_16" file="mesh/jewelry_box_020_collision_16.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_17" file="mesh/jewelry_box_020_collision_17.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_18" file="mesh/jewelry_box_020_collision_18.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_19" file="mesh/jewelry_box_020_collision_19.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_20" file="mesh/jewelry_box_020_collision_20.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_21" file="mesh/jewelry_box_020_collision_21.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_22" file="mesh/jewelry_box_020_collision_22.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_23" file="mesh/jewelry_box_020_collision_23.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_24" file="mesh/jewelry_box_020_collision_24.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_25" file="mesh/jewelry_box_020_collision_25.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_26" file="mesh/jewelry_box_020_collision_26.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_27" file="mesh/jewelry_box_020_collision_27.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_28" file="mesh/jewelry_box_020_collision_28.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_29" file="mesh/jewelry_box_020_collision_29.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_30" file="mesh/jewelry_box_020_collision_30.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_31" file="mesh/jewelry_box_020_collision_31.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_32" file="mesh/jewelry_box_020_collision_32.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_33" file="mesh/jewelry_box_020_collision_33.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_34" file="mesh/jewelry_box_020_collision_34.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_35" file="mesh/jewelry_box_020_collision_35.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_36" file="mesh/jewelry_box_020_collision_36.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_37" file="mesh/jewelry_box_020_collision_37.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_38" file="mesh/jewelry_box_020_collision_38.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_39" file="mesh/jewelry_box_020_collision_39.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_40" file="mesh/jewelry_box_020_collision_40.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_41" file="mesh/jewelry_box_020_collision_41.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_42" file="mesh/jewelry_box_020_collision_42.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_43" file="mesh/jewelry_box_020_collision_43.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_44" file="mesh/jewelry_box_020_collision_44.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_45" file="mesh/jewelry_box_020_collision_45.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_46" file="mesh/jewelry_box_020_collision_46.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_47" file="mesh/jewelry_box_020_collision_47.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_48" file="mesh/jewelry_box_020_collision_48.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_49" file="mesh/jewelry_box_020_collision_49.obj" scale="1.0 1.0 1.0" inertia="shell" />
+    <mesh name="collision_mesh_0_50" file="mesh/jewelry_box_020_collision_50.obj" scale="1.0 1.0 1.0" inertia="shell" />
+  </asset>
+  <worldbody>
+    <body name="jewelry_box_020">
+      <joint type="free" />
+      <geom type="mesh" mesh="visual_mesh_0" contype="0" conaffinity="0" density="0" material="material_0" />
+      <geom type="mesh" mesh="collision_mesh_0_0" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_1" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_2" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_3" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_4" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_5" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_6" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_7" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_8" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_9" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_10" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_11" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_12" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_13" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_14" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_15" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_16" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_17" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_18" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_19" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_20" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_21" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_22" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_23" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_24" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_25" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_26" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_27" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_28" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_29" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_30" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_31" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_32" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_33" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_34" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_35" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_36" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_37" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_38" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_39" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_40" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_41" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_42" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_43" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_44" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_45" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_46" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_47" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_48" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_49" contype="1" conaffinity="1" rgba="1 1 1 0" />
+      <geom type="mesh" mesh="collision_mesh_0_50" contype="1" conaffinity="1" rgba="1 1 1 0" />
+    </body>
+  </worldbody>
+</mujoco>
\ No newline at end of file
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cf7a39c86c6397a8fd18e38a764e96a64ed1767e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020.obj
@@ -0,0 +1,113926 @@
+# https://github.com/mikedh/trimesh
+mtllib material.mtl
+usemtl jewelry_box_020_geometry_Looks_material_0
+v -0.056371 0.059699 0.085398
+v -0.056371 0.059699 0.085398
+v -0.057613 0.059643 0.085293
+v -0.057613 0.059643 0.085293
+v -0.057318 0.059659 0.089443
+v -0.057318 0.059659 0.089443
+v -0.071141 0.036164 0.106905
+v -0.071165 0.022444 0.106922
+v -0.070947 0.034372 0.107024
+v -0.070967 0.016464 0.107032
+v -0.070746 0.023181 0.107139
+v -0.071149 0.039537 0.106858
+v -0.070802 0.039209 0.107061
+v -0.070318 0.041065 0.107209
+v -0.070691 0.030036 0.107146
+v -0.070917 0.041726 0.106918
+v -0.070096 0.036057 0.107333
+v -0.070096 0.036057 0.107333
+v -0.069967 0.039999 0.107346
+v -0.069967 0.039999 0.107346
+v -0.070362 0.026585 0.107268
+v -0.070362 0.026585 0.107268
+v -0.070733 0.011454 0.107134
+v -0.070733 0.011454 0.107134
+v -0.070175 0.022559 0.107329
+v -0.070175 0.022559 0.107329
+v -0.070146 0.014810 0.107327
+v -0.070146 0.014810 0.107327
+v -0.070889 0.043121 0.106830
+v -0.070889 0.043121 0.106830
+v -0.070534 0.043552 0.106961
+v -0.070869 0.002118 0.107074
+v -0.070869 0.002118 0.107074
+v -0.070522 0.000209 0.107213
+v -0.070522 0.000209 0.107213
+v -0.070045 0.043161 0.107169
+v -0.070045 0.043161 0.107169
+v -0.069423 0.042319 0.107411
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4cf4a63964091268578d25ab7f0649cad89c6119
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision.obj
@@ -0,0 +1,23003 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_0.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_0.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b502a29f3a50152e59a6805e5de7ffad4406b557
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_0.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_1.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_1.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5a579331d35f8c31e722dcacf37c895a5acc7dda
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_1.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_10.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_10.obj
new file mode 100644
index 0000000000000000000000000000000000000000..cbb038994dff2bbdf476a0e742efb7830e9ba66a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_10.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_11.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_11.obj
new file mode 100644
index 0000000000000000000000000000000000000000..fd3cae6c9e4f94eba8d87b96c80fb80d6d2d566b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_11.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_12.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_12.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0159cac4fdd62ad5c777f7f7f25ca65b22affe44
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_12.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_13.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_13.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4b3b2755c3ba601e058ac03e2561ffb304c7b2d0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_13.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_14.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_14.obj
new file mode 100644
index 0000000000000000000000000000000000000000..4463abee5378e3cfb328b57511840d04fe7fe068
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_14.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_15.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_15.obj
new file mode 100644
index 0000000000000000000000000000000000000000..13dde76c61bd2cef404551595506d28364286746
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_15.obj
@@ -0,0 +1,1783 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_16.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_16.obj
new file mode 100644
index 0000000000000000000000000000000000000000..639f0fd4d4890a929c8156bd35256526ddfa29b9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_16.obj
@@ -0,0 +1,145 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_17.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_17.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0737a682dc768249f0ff4ac1fd7245e76b4c78bf
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_17.obj
@@ -0,0 +1,247 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_18.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_18.obj
new file mode 100644
index 0000000000000000000000000000000000000000..de93a57515ecc543995fe34de95b20d3503aa46a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_18.obj
@@ -0,0 +1,52 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_19.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_19.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3dc317ff7b8f7bfb9b64b1785397c38c84d17a0e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_19.obj
@@ -0,0 +1,310 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_2.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_2.obj
new file mode 100644
index 0000000000000000000000000000000000000000..34d7cdf239ab54544fa66c0d1a3e391b14ed7d01
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_2.obj
@@ -0,0 +1,643 @@
+# https://github.com/mikedh/trimesh
+v -0.05910348 -0.03777042 0.01663462
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_20.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_20.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1de05b47171020a81242d70adb925b2f7f4a7a4f
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_20.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_21.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_21.obj
new file mode 100644
index 0000000000000000000000000000000000000000..908720939df11964b4c5612f868fcb75d385720d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_21.obj
@@ -0,0 +1,376 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_22.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_22.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ded346abff3e5b1c7d2d95f711eea0560070db68
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_22.obj
@@ -0,0 +1,271 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_23.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_23.obj
new file mode 100644
index 0000000000000000000000000000000000000000..69b2bdb7c9b9d8a898eebd49cd2bc3965b603e3c
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_23.obj
@@ -0,0 +1,322 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_24.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_24.obj
new file mode 100644
index 0000000000000000000000000000000000000000..06e19accd1009ecd2555e1fcf44d0a6a3fa919b0
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_24.obj
@@ -0,0 +1,112 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_25.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_25.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6bb088809b6e4cff5fda88f0559ee86c0e8499c9
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_25.obj
@@ -0,0 +1,409 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_26.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_26.obj
new file mode 100644
index 0000000000000000000000000000000000000000..422aaeb360e2a46401604f9c05959f45c67c9ba5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_26.obj
@@ -0,0 +1,355 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_27.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_27.obj
new file mode 100644
index 0000000000000000000000000000000000000000..15d28bed24636895e4567c5936dde5f526b9bf7a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_27.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_28.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_28.obj
new file mode 100644
index 0000000000000000000000000000000000000000..38c83b3c4ed3a60e1df5d5e012d93b2c387fb54e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_28.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_29.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_29.obj
new file mode 100644
index 0000000000000000000000000000000000000000..74b61240b364d367affa81088a2117cb7a8819f5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_29.obj
@@ -0,0 +1,217 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_3.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_3.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44611a1cff361ca71e169370019dc6d0fd20c90a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_3.obj
@@ -0,0 +1,364 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_30.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_30.obj
new file mode 100644
index 0000000000000000000000000000000000000000..f1bb226e4b62027d9ff34a496e920068b92300b5
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_30.obj
@@ -0,0 +1,211 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_31.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_31.obj
new file mode 100644
index 0000000000000000000000000000000000000000..47b660b646e0cff4d0573e1d29cd700c454559c8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_31.obj
@@ -0,0 +1,316 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_32.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_32.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e367283b4dae0fb4acc083a71ea998bdbc45d10d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_32.obj
@@ -0,0 +1,193 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_33.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_33.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c1d11e0bde3cb40e0f0709207e50892046471dc8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_33.obj
@@ -0,0 +1,484 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_34.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_34.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ff343aa0e49f66bda4bf71c595ad6aaefd0ed106
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_34.obj
@@ -0,0 +1,472 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_35.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_35.obj
new file mode 100644
index 0000000000000000000000000000000000000000..a09d1b14eeaaf5d045259b98dd60c79367f12fed
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_35.obj
@@ -0,0 +1,151 @@
+# https://github.com/mikedh/trimesh
+v -0.00894898 -0.04228813 -0.00224765
+v -0.00895513 -0.04231757 -0.00224765
+v -0.00895513 -0.04228813 -0.00224615
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+v 0.05229662 -0.04234182 -0.00224765
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+v -0.00895513 -0.04282851 -0.00165523
+v 0.05387727 -0.04277655 -0.00170520
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+v 0.05387727 -0.05998029 -0.00224771
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+v -0.00895513 -0.05970146 -0.00107521
+v -0.00895513 -0.04412750 -0.00035991
+v 0.05387727 -0.04407554 -0.00033131
+v 0.05387727 -0.05969280 -0.00107491
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+v 0.04078924 -0.05598982 0.00080893
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+
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_36.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_36.obj
new file mode 100644
index 0000000000000000000000000000000000000000..db335d8cd550237d1c35dcf8fd3b92e4c50c9b5e
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_36.obj
@@ -0,0 +1,64 @@
+# https://github.com/mikedh/trimesh
+v 0.05627253 -0.04022834 -0.00426485
+v 0.07815471 -0.04022834 -0.00426485
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+
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_37.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_37.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7f8383b48c47623de5a2afe06ac4ee6692461604
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_37.obj
@@ -0,0 +1,103 @@
+# https://github.com/mikedh/trimesh
+v 0.05554043 0.00444463 -0.01127704
+v 0.05554043 0.00647685 -0.01128083
+v 0.04860495 0.00444462 -0.00723310
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+
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_38.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_38.obj
new file mode 100644
index 0000000000000000000000000000000000000000..e3b2f9df1f1aaa4e34986af9894b469007c09863
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_38.obj
@@ -0,0 +1,415 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_39.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_39.obj
new file mode 100644
index 0000000000000000000000000000000000000000..11996e8156b2da91f8259a3bbd0e7c8811ed4026
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_39.obj
@@ -0,0 +1,85 @@
+# https://github.com/mikedh/trimesh
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+
diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_4.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_4.obj
new file mode 100644
index 0000000000000000000000000000000000000000..44939bb4eb4eea4138734947a069ec0d07f323b8
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_4.obj
@@ -0,0 +1,1126 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_40.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_40.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ba413355d84c6332a7ec252601a3a459d7654d3d
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_40.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_41.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_41.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b48ad76a7d102836cd091c78c73ed2bda17d1709
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_41.obj
@@ -0,0 +1,319 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_42.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_42.obj
new file mode 100644
index 0000000000000000000000000000000000000000..86b67713a5b24febe90f3755a9e02cf65debfe60
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_42.obj
@@ -0,0 +1,142 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_43.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_43.obj
new file mode 100644
index 0000000000000000000000000000000000000000..3b1029bdfe90a2c3d6d2499c928caa2f462a1590
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_43.obj
@@ -0,0 +1,280 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_44.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_44.obj
new file mode 100644
index 0000000000000000000000000000000000000000..7dcc96de9b1b0977729eeac1b798f57af6f4e7e6
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_44.obj
@@ -0,0 +1,322 @@
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_45.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_45.obj
new file mode 100644
index 0000000000000000000000000000000000000000..31b067b9e94ff0f43e2fd6477f2f1544b2d409c1
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_45.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_46.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_46.obj
new file mode 100644
index 0000000000000000000000000000000000000000..0bb41f158525a1e171124d39f94db8cb6fe703b7
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_46.obj
@@ -0,0 +1,271 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_47.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_47.obj
new file mode 100644
index 0000000000000000000000000000000000000000..355394b1363e1ea395394f83af3f8842576b185a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_47.obj
@@ -0,0 +1,916 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_48.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_48.obj
new file mode 100644
index 0000000000000000000000000000000000000000..6ae509952a9dbc8155c106981dc09ab6318beb29
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_48.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_49.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_49.obj
new file mode 100644
index 0000000000000000000000000000000000000000..342ee2933bf9900f6e9f79942da9fae2106681aa
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_49.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_5.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..228cb23fbc75d0287500cd340037ebdc31a8282b
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_5.obj
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_50.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_50.obj
new file mode 100644
index 0000000000000000000000000000000000000000..496cfc4379d433097b7f2d066cde6d574e35906a
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_50.obj
@@ -0,0 +1,223 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_6.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_6.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8fa1ed78c6e66bee27ba4dc5a2ab3d7988ce45b3
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_6.obj
@@ -0,0 +1,370 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_7.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_7.obj
new file mode 100644
index 0000000000000000000000000000000000000000..bbd26f6aab15b62d3963d01f09a8e02bf6a88898
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_7.obj
@@ -0,0 +1,178 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_8.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_8.obj
new file mode 100644
index 0000000000000000000000000000000000000000..367e4aaae9c5f61559b3f7e34ff1b08af617d912
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_8.obj
@@ -0,0 +1,238 @@
+# https://github.com/mikedh/trimesh
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diff --git a/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_9.obj b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_9.obj
new file mode 100644
index 0000000000000000000000000000000000000000..36136a329a55a0b4aa0af8be53e663eb0df3ac34
--- /dev/null
+++ b/dataset/bedroom_supplies/storage/f89951ee672d58ad9d762402ed944857/mjcf/mesh/jewelry_box_020_collision_9.obj
@@ -0,0 +1,280 @@
+# https://github.com/mikedh/trimesh
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